现代机器人：力学、规划与控制

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"MODERN ROBOTICS MECHANICS, PLANNING, AND CONTROL 是一本由 Kevin M. Lynch 和 Frank C. Park 在2016年出版的关于机器人学的教材，主要涉及机械、规划和控制方面的内容。这本书是未编辑的预印本版本，最终正式版将于2017年由剑桥大学出版社出版，ISBN号为9781107156302。读者可以个人使用，但不能进一步分发。作者鼓励对书中的原始图形进行合理引用，并提供了相关的图书信息网站（http://modernrobotics.org），该网站上有软件、视频和反馈表单等资源。" 本书的核心知识点包括： 1. **机器人学基础**：作为一本教材，它覆盖了机器人学的基础概念，包括机器人的自由度和关节设计。 2. **自由度**：书中详细介绍了刚体的自由度（Degrees of Freedom, DOF）以及机器人的自由度。机器人自由度涉及到其在空间中移动和转动的能力，是衡量机器人灵活性的关键参数。 3. **机器人关节**（2.2.1 Robot Joints）：这部分讲解了机器人不同类型的关节，如旋转关节、直线关节等，它们如何赋予机器人在三维空间中运动的能力。 4. **Grubler’s Formula**（2.2.2 Grubler's Formula）：这是一个用于计算具有多个连杆的闭链机构自由度的公式，对于理解复杂机器人系统的运动学至关重要。 5. **配置空间**（Configuration Space）：2.3章节深入探讨了配置空间的拓扑和表示方法。配置空间是描述机器人所有可能位置和姿态的数学抽象空间。 - **配置空间拓扑**（2.3.1 Configuration Space Topology）：这部分讨论了配置空间的结构，包括连接性、连续性和路径规划等问题。 - **配置空间表示**（2.3.2 Configuration Space Representation）：介绍了如何用坐标系或向量来表示机器人在配置空间的位置，这在运动规划和控制中是非常重要的。 6. **配置和速度**：书中还提到了配置和速度的关系，这是机器人动力学研究的基础，涉及到机器人的运动学和动力学模型。这本教材适合于学习机器人学的学生、工程师和研究人员，它不仅提供了理论知识，还可能包含实际操作和案例分析，帮助读者理解和应用机器人学的基本原理。通过学习这些内容，读者可以掌握机器人系统的设计、分析和控制方法。

xiv Preface

ple and elegant geometric interpretation that lies at the heart of what they are

calculating.

The breakthrough that makes the techniques of classical screw theory ac-

cessible to a more general audience arrived in the early 1980’s, when Roger

Brockett showed how to mathematically describe kinematic chains in terms of

the Lie group structure of the rigid-body motions [20]. This discovery allowed

one, among other things, to re-invent screw theory simply by appealing to basic

linear algebra and linear diﬀerential equations. With this “modern screw the-

ory” the powerful tools of modern diﬀerential geometry can be brought to bear

on a wide-ranging collection of robotics problems, some of which we explore

here, others of which are covered in the excellent but more advanced graduate

textbook by Murray, Li and Sastry [122].

As the title indicates, this book covers what we feel to be the fundamentals

of robot mechanics, together with the basics of planning and control. A thor-

ough treatment of all the chapters would likely take two semesters, particularly

when coupled with programming assignments or experiments with robots. The

contents of Chapters 2-6 constitute the minimum essentials, and these topics

should probably be covered in sequence.

The instructor can then selectively choose content from the remaining chap-

ters. At Seoul National University, the undergraduate course M2794.0027 Intro-

duction to Robotics covers, in one semester, Chapters 2-7 and parts of Chapters

10, 11, and 12. At Northwestern, ME 449 Robotic Manipulation covers, in an 11-

week quarter, Chapters 2-6 and 8, then touches on diﬀerent topics in Chapters

9-12 depending on the interests of the students and instructor. A course focus-

ing on the kinematics of robot arms and wheeled vehicles could cover chapters

2-7 and 13, while a course on kinematics and motion planning could additionally

include Chapters 9 and 10. A course on the mechanics of manipulation would

cover Chapters 2-6, 8, and 12, while a course on robot control would cover

Chapters 2-6, 8, 9, and 11. If the instructor prefers to avoid dynamics (Chapter

8), the basics of robot control (Chapters 11 and 13) can be covered by assuming

control of velocity at each actuator, not forces and torques. A course focusing

only on motion planning could cover Chapters 2 and 3, in-depth coverage of

Chapter 10 (possibly supplemented by research papers or other references cited

in that chapter), and Chapter 13.

To help the instructor choose which topics to teach and to help the student

keep track of what she has learned, we have included a summary at the end of

each chapter and a summary of important notation and formulas used through-

out the book (Appendix A). For those whose primary interest in this text is

as an introductory reference, we have attempted to provide a reasonably com-

prehensive, though by no means exhaustive, set of references and bibliographic

Lynch and Park. Nov. 2016 preprint of Modern Robotics, Cambridge U. Press, 2017.

Preface xv

notes at the end of each chapter. Some of the exercises provided at the end of

each chapter extend the basic results covered in the book, and for those who

wish to probe further, these should be of some interest in their own right. Some

of the more advanced material in the book can be used to support independent

study projects.

Another important component of the book is the software, which is written

to reinforce the concepts in the book and to make the formulas operational. The

software was developed primarily by Kevin’s ME 449 students at Northwestern

and is freely downloadable from http://modernrobotics.org. Video lectures

that accompany the textbook will also be available at the website. The intent

of the video content is to “ﬂip” the classroom. Students watch the brief lectures

on their own time, rewinding and rewatching as needed, and class time is fo-

cused more on collaborative problem-solving. This way, the professor is present

when the students are applying the material and discovering the gaps in their

understanding, creating the opportunity for interactive mini-lectures addressing

the concepts that need most reinforcing. We believe that the added value of the

professor is greatest in this interactive role, not when delivering a lecture the

same way it was delivered the previous year. This approach has worked well for

Kevin’s introduction to mechatronics course, http://nu32.org.

Video content is generated using the Lightboard, http://lightboard.info,

created by Michael Peshkin at Northwestern University. We thank him for

sharing this convenient and eﬀective tool for creating instructional videos.

We have also found the V-REP robot simulation software to be a valuable

supplement to the book and its software. This simulation software allows stu-

dents to interactively explore the kinematics of robot arms and mobile manipu-

lators and to animate trajectories that are the result of exercises on kinematics,

dynamics, and control.

While this book presents our own perspective on how to introduce the fun-

damental topics in ﬁrst courses on robot mechanics, planning, and control, we

acknowledge the excellent textbooks that already exist and that have served

our ﬁeld well. Among these, we would like to mention as particularly inﬂuential

the books by Murray, Li, and Sastry [122]; Craig [33]; Spong, Hutchinson, and

Vidyasagar [177]; Siciliano, Sciavicco, Villani, and Oriolo [171]; Mason [109];

Corke [31]; and the motion planning books by Latombe [80], LaValle [83], and

Choset, Lynch, Hutchinson, Kantor, Burgard, Kavraki, and Thrun [28]. In ad-

dition, the Handbook of Robotics [170], edited by Siciliano and Khatib with

a multimedia extension edited by Kr¨oger (http://handbookofrobotics.org),

is a landmark in our ﬁeld, collecting the perspectives of hundreds of leading

researchers on a huge variety of topics relevant to modern robotics.

It is our pleasure to acknowledge the many people who have been the sources

Lynch and Park. Nov. 2016 preprint of Modern Robotics, Cambridge U. Press, 2017.

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